From 78cb8f5ca35c14c91ec709330a6af2b4e880de43 Mon Sep 17 00:00:00 2001
From: curt <curt>
Date: Mon, 11 Jun 2007 20:14:40 +0000
Subject: [PATCH] Tweak control input estimation gains.

---
 utils/GPSsmooth/UGear_main.cxx | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/utils/GPSsmooth/UGear_main.cxx b/utils/GPSsmooth/UGear_main.cxx
index 28b806907..c329be01b 100644
--- a/utils/GPSsmooth/UGear_main.cxx
+++ b/utils/GPSsmooth/UGear_main.cxx
@@ -211,8 +211,8 @@ static void ugear2fg( gps *gpspacket, imu *imupacket, nav *navpacket,
         static float est_elev = 0.0;
         static float est_aileron = 0.0;
         static float est_rudder = 0.0;
-        est_elev = 0.95 * est_elev + 0.05 * (imupacket->q * 8);
-        est_aileron = 0.95 * est_aileron + 0.05 * (imupacket->p * 8);
+        est_elev = 0.99 * est_elev + 0.01 * (imupacket->q * 10);
+        est_aileron = 0.95 * est_aileron + 0.05 * (imupacket->p * 5);
         est_rudder = 0.95 * est_rudder + 0.05 * (imupacket->r * 8);
         fdm->elevator = -est_elev;
         fdm->left_aileron = est_aileron;
-- 
2.39.5